From cb17a62df359d75b1201964866da52937fa83bc3 Mon Sep 17 00:00:00 2001 From: solfdd <1006434858@qq.com> Date: Sun, 21 Dec 2025 16:01:58 +0800 Subject: [PATCH 01/16] Create README.md --- src/Safe_navigation/README.md | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 src/Safe_navigation/README.md diff --git a/src/Safe_navigation/README.md b/src/Safe_navigation/README.md new file mode 100644 index 0000000000..e1ca3e8b66 --- /dev/null +++ b/src/Safe_navigation/README.md @@ -0,0 +1,2 @@ +首次提交选题为无人车安全导航 + From 35f609b2655e6d4f7f92a2b4957089102c813508 Mon Sep 17 00:00:00 2001 From: solfdd <1006434858@qq.com> Date: Sun, 21 Dec 2025 21:45:29 +0800 Subject: [PATCH 02/16] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .idea/.gitignore | 5 + .../inspectionProfiles/profiles_settings.xml | 6 + .idea/misc.xml | 7 + .idea/modules.xml | 8 + .idea/nn.iml | 18 + .idea/vcs.xml | 6 + .../car.cpython-312-pytest-9.0.2.pyc | Bin 0 -> 36820 bytes ...onnect_airsim.cpython-312-pytest-9.0.2.pyc | Bin 0 -> 6417 bytes src/Safe_navigation/car.py | 846 ++++++++++++++++++ src/Safe_navigation/check_version.py | 30 + src/Safe_navigation/connect_airsim.py | 51 ++ .../events.out.tfevents.1766316918.YD.1800.0 | Bin 0 -> 88 bytes src/Safe_navigation/run_main.py | 506 +++++++++++ 13 files changed, 1483 insertions(+) create mode 100644 .idea/.gitignore create mode 100644 .idea/inspectionProfiles/profiles_settings.xml create mode 100644 .idea/misc.xml create mode 100644 .idea/modules.xml create mode 100644 .idea/nn.iml create mode 100644 .idea/vcs.xml create mode 100644 src/Safe_navigation/__pycache__/car.cpython-312-pytest-9.0.2.pyc create mode 100644 src/Safe_navigation/__pycache__/connect_airsim.cpython-312-pytest-9.0.2.pyc create mode 100644 src/Safe_navigation/car.py create mode 100644 src/Safe_navigation/check_version.py create mode 100644 src/Safe_navigation/connect_airsim.py create mode 100644 src/Safe_navigation/logs/airsim_dqn_20251221_193518/events.out.tfevents.1766316918.YD.1800.0 create mode 100644 src/Safe_navigation/run_main.py diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 0000000000..10b731c518 --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,5 @@ +# 默认忽略的文件 +/shelf/ +/workspace.xml +# 基于编辑器的 HTTP 客户端请求 +/httpRequests/ diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 0000000000..105ce2da2d --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000000..77773ffb78 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000000..0e01bed9d6 --- /dev/null +++ b/.idea/modules.xml @@ -0,0 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zf`=jd!ph6nl{>KSm73zMR;CgRnv!A_8-ojK27f?h65-}c+#=Lx>s?kCF3YNE+U8Sj zp{)#qW3f-a0m`*1w@VXq2-0H^wGrd7ld_rX`gTern=SdI3unj%H0A$ubRR znQmsyZq|(AZZk_gBgmJslzEIwAE9OqQ?pnqSCBr>QZES7MJ%=WHkRfLQ#lZqJ7aQl()a#U(*vYT`ZFQ)&u6K8p;63ItA$3*Eoyt1LTQ-~4Jgfs zRjs1xT$aicG;AzI3k}OH>W^U(t0thd$-t;#Ij|se!KZ~i#MQ+k1;xV!#X}2Lf41tg zw>~QyN?*%TzZFJWN2pCh)TZ0189#&*@UTbD8L-~Riw(uO=*!&P=M>7nrkmjY6+z;= zcHWw0%CDBGp&f!PK>{U^2Pd)e!e?lLkKE+8SGepBr%(TEb&W-O%d%A0;GNF1I-N9w zKY8Ra^fty02TCh-`4XaiIv6Y*3^-%BYGIzjHyqf6l3qAk!g=-S1VSKuX%P>r(plpa z4v|k=Sz{5u!7%uH*@uXkiUBZNctjReR@vMY^m3*EUh%Y?EZo9Mf*}5mP#xNxbQdK) z&}0*757rVhh{@p+0;%-g?O!Xi?x?ihS#>YNV@S7}RjrY~m$Iri{;5F|vTvqL_pJRU zA>|wL>7#2|G6#QQNgW}l50leRu7M9LckoA!bn%|N%MrDmqxx*BkL^w%z@S&f3 Xi^>ZpA}TAahOaT 0: + img1d = np.frombuffer(responses[0].image_data_uint8, dtype=np.uint8) + + if img1d.size > 0: + img_rgb = img1d.reshape(responses[0].height, responses[0].width, 3) + resized = cv2.resize(img_rgb, self.config.image_size) + normalized = resized.astype(np.float32) / 255.0 + normalized = np.transpose(normalized, (2, 0, 1)) + + return normalized + + except Exception as e: + print(f"获取摄像头图像失败: {e}") + + # 返回空白图像 + return np.zeros((3, *self.config.image_size), dtype=np.float32) + + def get_vehicle_state(self): + """获取车辆状态""" + try: + # 获取车辆状态 + car_state = self.client.getCarState() + + # 获取碰撞信息 + collision_info = self.client.simGetCollisionInfo() + + state_info = { + 'speed': car_state.speed, + 'velocity': [ + car_state.kinematics_estimated.linear_velocity.x_val, + car_state.kinematics_estimated.linear_velocity.y_val, + car_state.kinematics_estimated.linear_velocity.z_val + ], + 'position': [ + car_state.kinematics_estimated.position.x_val, + car_state.kinematics_estimated.position.y_val, + car_state.kinematics_estimated.position.z_val + ], + 'collision': collision_info.has_collided, + 'collision_count': collision_info.collision_count, + } + + return state_info + + except Exception as e: + print(f"获取车辆状态失败: {e}") + return None + + def create_state_vector(self, state_info): + """创建状态向量""" + if state_info is None: + return np.zeros(self.config.state_dim, dtype=np.float32) + + state_vector = [] + + # 速度信息 + state_vector.append(state_info['speed'] / self.config.max_speed) + state_vector.extend([v / 10.0 for v in state_info['velocity'][:2]]) + + # 位置信息 + state_vector.extend([p / 100.0 for p in state_info['position'][:2]]) + + # 碰撞信息 + state_vector.append(float(state_info['collision'])) + + # 补全到指定维度 + while len(state_vector) < self.config.state_dim: + state_vector.append(np.random.uniform(-0.1, 0.1)) + + state_vector = state_vector[:self.config.state_dim] + + return np.array(state_vector, dtype=np.float32) + + def get_state(self): + """获取当前状态""" + try: + image_state = self.get_camera_image() + state_info = self.get_vehicle_state() + state_vector = self.create_state_vector(state_info) + + safety_flags = { + 'collision': state_info['collision'] if state_info else False, + } + + return image_state, state_vector, safety_flags + + except Exception as e: + print(f"获取状态失败: {e}") + # 返回默认状态 + image_state = np.zeros((3, *self.config.image_size), dtype=np.float32) + state_vector = np.zeros(self.config.state_dim, dtype=np.float32) + safety_flags = {'collision': False} + return image_state, state_vector, safety_flags + + def apply_action(self, action_idx): + """应用动作到车辆""" + # 简化动作空间 + steer_actions = [-0.3, -0.1, 0.0, 0.1, 0.3] + throttle_actions = [0.0, 0.2, 0.5, 0.8, 1.0] + + # 确保动作索引在范围内 + action_idx = min(action_idx, len(steer_actions) * len(throttle_actions) - 1) + steer_idx = action_idx % len(steer_actions) + throttle_idx = min(action_idx // len(steer_actions), len(throttle_actions) - 1) + + # 创建控制命令 + car_controls = airsim.CarControls() + car_controls.steering = steer_actions[steer_idx] + car_controls.throttle = throttle_actions[throttle_idx] + car_controls.brake = 0.0 + + # 应用控制 + try: + self.client.setCarControls(car_controls) + return car_controls + except Exception as e: + print(f"应用控制命令失败: {e}") + return car_controls + + def calculate_reward(self, current_state_info, safety_flags): + """计算奖励函数""" + if current_state_info is None: + return 0.0 + + reward = 0.0 + speed = current_state_info['speed'] + + # 基础移动奖励 + if speed > 0.1: + reward += 0.1 + + # 碰撞惩罚 + if safety_flags['collision']: + reward += self.config.collision_penalty + self.collisions += 1 + print(f"⚠️ 发生碰撞! 惩罚: {self.config.collision_penalty}") + + # 生存奖励 + reward += 0.01 + + return reward + + def step(self, action_idx): + """执行一步环境交互""" + self.step_count += 1 + + # 获取当前状态 + prev_image, prev_vector, prev_safety = self.get_state() + + # 应用动作 + control = self.apply_action(action_idx) + + # 等待环境响应 + time.sleep(0.1) + + # 获取新状态 + current_image, current_vector, current_safety = self.get_state() + + # 获取状态信息用于计算奖励 + current_state_info = self.get_vehicle_state() + + # 计算奖励 + reward = self.calculate_reward(current_state_info, current_safety) + self.total_reward += reward + + # 检查是否终止 + done = False + if current_safety['collision']: + done = True + print("💥 终止: 发生碰撞") + elif self.step_count >= self.config.max_steps: + done = True + print("⏱️ 终止: 达到最大步数") + + return (current_image, current_vector, reward, + prev_image, prev_vector, done, current_safety) + + def reset(self): + """重置环境""" + self.step_count = 0 + self.total_reward = 0 + self.collisions = 0 + + try: + self.client.reset() + time.sleep(1.0) # 等待重置完成 + except Exception as e: + print(f"重置环境失败: {e}") + + image_state, vector_state, safety_flags = self.get_state() + + return image_state, vector_state, safety_flags + + def close(self): + """关闭环境""" + try: + print("AirSim环境已关闭") + except: + pass + + +# ==================== 训练函数 ==================== +def train_dqn_safety_navigation(resume_model=None): + """主训练函数""" + config = TrainingConfig() + + # 创建TensorBoard记录器 + log_dir = f"./logs/airsim_dqn_{datetime.now().strftime('%Y%m%d_%H%M%S')}" + writer = SummaryWriter(log_dir) + + # 初始化环境和智能体 + env = AirSimSafetyEnv(config) + agent = DQNAgent(config, device='cpu') + + # 恢复训练（如果指定） + if resume_model and os.path.exists(resume_model): + try: + agent.load_model(resume_model) + print(f"从模型恢复训练: {resume_model}") + except: + print("模型加载失败，从头开始训练") + else: + print("从头开始训练") + + # 连接AirSim服务器 + print("\n" + "=" * 60) + print("正在连接AirSim服务器...") + + if not env.connect(): + print("无法连接到AirSim服务器，退出训练") + return + + print("=" * 60) + + # 训练循环 + print(f"\n开始深度强化学习安全导航训练") + print(f"总回合数: {config.total_episodes}") + print(f"最大步数: {config.max_steps}") + print(f"设备: {agent.device}") + print("=" * 60) + + for episode in range(config.total_episodes): + # 重置环境 + try: + image_state, vector_state, safety_flags = env.reset() + except Exception as e: + print(f"重置环境失败: {e}") + break + + episode_reward = 0 + episode_steps = 0 + episode_losses = [] + episode_start_time = time.time() + + # 回合循环 + done = False + while not done and episode_steps < config.max_steps: + try: + # 选择动作 + action = agent.select_action(image_state, vector_state) + + # 执行动作，获取新状态和奖励 + (next_image, next_vector, reward, + prev_image, prev_vector, done, next_safety) = env.step(action) + + # 存储经验 + experience = ( + prev_image, prev_vector, action, reward, + next_image, next_vector, done + ) + agent.memory.push(experience) + + # 训练智能体 + if agent.steps_done % config.update_every == 0: + loss = agent.train_step() + if loss > 0: + episode_losses.append(loss) + + # 更新状态 + image_state, vector_state = next_image, next_vector + episode_reward += reward + episode_steps += 1 + agent.steps_done += 1 + + # 简单进度显示 + if episode_steps % 10 == 0: + print(f" 步数: {episode_steps}, 奖励: {episode_reward:.2f}, 探索率: {agent.epsilon:.3f}") + + except Exception as e: + print(f"回合执行出错: {e}") + done = True + + # 计算回合统计 + episode_time = time.time() - episode_start_time + avg_loss = np.mean(episode_losses) if episode_losses else 0 + + # 记录训练数据 + writer.add_scalar('Reward/Episode', episode_reward, episode) + writer.add_scalar('Loss/Episode', avg_loss, episode) + writer.add_scalar('Exploration/Epsilon', agent.epsilon, episode) + writer.add_scalar('Steps/Episode_Steps', episode_steps, episode) + + # 打印回合总结 + print(f"\n回合 {episode + 1}/{config.total_episodes}") + print(f" 总奖励: {episode_reward:.2f}") + print(f" 步数: {episode_steps}") + print(f" 时间: {episode_time:.1f}s") + print(f" 平均损失: {avg_loss:.4f}") + print(f" 碰撞次数: {env.collisions}") + print(f" 探索率: {agent.epsilon:.3f}") + + # 保存模型 + if (episode + 1) % config.save_interval == 0: + agent.save_model(episode + 1) + + # 更新目标网络 + if (episode + 1) % 5 == 0: + agent.update_target_network() + + # 保存最终模型 + agent.save_model(config.total_episodes) + + # 关闭环境 + env.close() + writer.close() + + print("\n" + "=" * 60) + print("🎉 训练完成！") + print(f"模型已保存至: {config.model_save_path}") + print(f"训练日志: {log_dir}") + print("=" * 60) + + +# ==================== 评估函数 ==================== +def evaluate_model(model_path, eval_episodes=3): + """评估训练好的模型""" + config = TrainingConfig() + env = AirSimSafetyEnv(config) + agent = DQNAgent(config, device='cpu') + + # 加载模型 + try: + agent.load_model(model_path) + agent.epsilon = 0.01 # 评估时探索率低 + except Exception as e: + print(f"模型加载失败: {e}") + return + + # 连接环境 + if not env.connect(): + print("无法连接到AirSim服务器") + return + + results = [] + + for episode in range(eval_episodes): + # 重置环境 + image_state, vector_state, _ = env.reset() + + episode_reward = 0 + episode_steps = 0 + + done = False + while not done and episode_steps < config.max_steps: + try: + # 选择动作（评估模式） + action = agent.select_action(image_state, vector_state, eval_mode=True) + + # 执行动作 + (next_image, next_vector, reward, + _, _, done, _) = env.step(action) + + # 更新 + image_state, vector_state = next_image, next_vector + episode_reward += reward + episode_steps += 1 + + # 简单显示 + if episode_steps % 10 == 0: + print(f" 评估步数: {episode_steps}, 奖励: {episode_reward:.2f}") + + except Exception as e: + print(f"评估出错: {e}") + done = True + + results.append({ + 'episode': episode + 1, + 'reward': episode_reward, + 'steps': episode_steps, + }) + + print(f"评估回合 {episode + 1}/{eval_episodes}: 奖励={episode_reward:.2f}") + + # 计算平均指标 + if results: + avg_reward = np.mean([r['reward'] for r in results]) + + print("\n" + "=" * 60) + print("评估结果总结:") + print(f"平均回合奖励: {avg_reward:.2f}") + print("=" * 60) + + env.close() + + +# ==================== 主程序入口 ==================== +if __name__ == "__main__": + import warnings + warnings.filterwarnings('ignore') + + print("=" * 70) + print("基于深度强化学习的AirSim自动驾驶安全导航系统") + print("版本：兼容旧版AirSim服务器 (1.2.6)") + print("=" * 70) + + # 创建必要的目录 + os.makedirs('./models', exist_ok=True) + os.makedirs('./logs', exist_ok=True) + + # 检查PyTorch + print(f"PyTorch版本: {torch.__version__}") + if torch.cuda.is_available(): + print(f"检测到GPU: {torch.cuda.get_device_name(0)}") + else: + print("将使用CPU运行") + + # 用户选择 + choice = None + valid_choices = ['1', '2', '3'] + + while choice not in valid_choices: + print("\n请选择运行模式:") + print("1. 训练新模型 (推荐先测试连接)") + print("2. 恢复训练") + print("3. 评估模型") + + user_input = input("\n请输入选择 (1-3): ").strip() + + if user_input: + first_char = user_input[0] + if first_char in valid_choices: + choice = first_char + else: + print(f"错误: 输入 '{user_input}' 无效。请输入 1, 2 或 3。") + else: + print("错误: 输入不能为空。请输入 1, 2 或 3。") + + # 根据选择执行 + if choice == '1': + print("\n" + "=" * 60) + print("重要提示:") + print("1. 请确保AirSim仿真环境正在运行") + print("2. 已选择汽车模式 (Car Mode)") + print("3. 初始训练只有50回合，用于测试连接") + print("=" * 60) + + confirm = input("\n确认AirSim环境已启动？(y/n): ").strip().lower() + if confirm == 'y': + train_dqn_safety_navigation() + else: + print("请先启动AirSim环境再运行程序") + elif choice == '2': + model_path = None + while not model_path: + model_path = input("请输入模型路径 (例如: ./models/airsim_dqn_episode_10.pth): ").strip() + if not model_path: + print("错误: 输入不能为空。") + continue + + if os.path.exists(model_path): + print(f"从模型恢复训练: {model_path}") + train_dqn_safety_navigation(resume_model=model_path) + else: + print(f"错误: 模型文件不存在: {model_path}") + model_path = None + elif choice == '3': + model_path = None + while not model_path: + model_path = input("请输入要评估的模型路径: ").strip() + if not model_path: + print("错误: 输入不能为空。") + continue + + if os.path.exists(model_path): + print(f"评估模型: {model_path}") + evaluate_model(model_path) + else: + print(f"错误: 模型文件不存在: {model_path}") + model_path = None + + + # 在代码开头添加测试函数 + def test_airsim_connection(): + """测试AirSim连接""" + try: + import airsim + client = airsim.CarClient() + client.confirmConnection() + print("✓ 成功连接到AirSim服务器！") + + # 获取车辆状态 + state = client.getCarState() + print(f"车辆速度: {state.speed}") + + client.enableApiControl(True) + print("API控制已启用") + + return True + except Exception as e: + print(f"❌ 连接失败: {e}") + print("\n请确保:") + print("1. AirSim仿真环境正在运行") + print("2. 已选择汽车模式") + print("3. AirSim服务器IP地址正确") + return False + + + # 在主程序中调用 + if __name__ == "__main__": + print("测试AirSim连接...") + if test_airsim_connection(): + print("\n连接测试通过！可以开始训练。") + else: + print("\n连接测试失败，请检查AirSim环境。") \ No newline at end of file diff --git a/src/Safe_navigation/check_version.py b/src/Safe_navigation/check_version.py new file mode 100644 index 0000000000..d36e7ce000 --- /dev/null +++ b/src/Safe_navigation/check_version.py @@ -0,0 +1,30 @@ +import airsim +import pkg_resources +import inspect + +print("=== AirSim 环境诊断 ===") + +# 1. 检查安装的版本 +try: + version = pkg_resources.get_distribution("airsim").version + print(f"1. 已安装的 airsim 包版本: {version}") +except Exception as e: + print(f"1. 无法获取版本: {e}") + +# 2. 查看 CarClient 的构造函数签名 +print("\n2. CarClient.__init__ 接受的参数:") +try: + # 获取构造函数签名，跳过第一个参数'self' + sig = inspect.signature(airsim.CarClient.__init__) + params = list(sig.parameters.keys())[1:] # 移除'self' + print(" ", params) +except Exception as e: + print(f" 获取失败: {e}") + +# 3. 尝试导入其他可能相关的模块 +print("\n3. 尝试直接导入常用客户端...") +try: + from airsim import CarClient + print(" ✓ 成功从 airsim 导入 CarClient") +except ImportError as e: + print(f" ✗ 导入失败: {e}") \ No newline at end of file diff --git a/src/Safe_navigation/connect_airsim.py b/src/Safe_navigation/connect_airsim.py new file mode 100644 index 0000000000..f1561402f2 --- /dev/null +++ b/src/Safe_navigation/connect_airsim.py @@ -0,0 +1,51 @@ +import airsim +import time + + +def main(): + print("=== 尝试连接 AirSimNH (使用 airsim 1.8.1) ===") + print("重要：请先确保虚幻引擎中的 AirSimNH 已点击播放(Play)！\n") + + try: + # 1. 创建客户端（1.8.1版本的唯一正确方式） + client = airsim.CarClient() + print("✓ 客户端对象创建成功") + + # 2. 确认连接（这会尝试与仿真器通信） + client.confirmConnection() + print("✓ 已连接到AirSim仿真服务器") + + # 3. 启用控制 + client.enableApiControl(True) + print("✓ API控制已启用") + + # 4. 获取车辆状态，验证一切正常 + car_state = client.getCarState() + print(f"✓ 车辆状态获取成功 - 速度: {car_state.speed} km/h") + + # 5. 【可选】简单控制演示 + print("\n>>> 连接成功！开始简单控制演示...") + controls = airsim.CarControls() + controls.throttle = 0.5 + client.setCarControls(controls) + time.sleep(2) + controls.brake = 1.0 + controls.throttle = 0.0 + client.setCarControls(controls) + time.sleep(1) + print("演示结束。") + # 6. 释放控制 + client.enableApiControl(False) + print("控制权已释放。") + + except ConnectionRefusedError: + print("\n✗ 连接被拒绝。") + print(" 最可能的原因：虚幻引擎中的 AirSimNH 仿真没有启动。") + print(" 请打开虚幻引擎，加载AirSimNH项目，并点击顶部工具栏的蓝色【播放】(▶)按钮。") + except Exception as e: + print(f"\n✗ 连接过程中出错: {e}") + print(" 其他可能原因：防火墙阻止、端口占用或配置文件错误。") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/src/Safe_navigation/logs/airsim_dqn_20251221_193518/events.out.tfevents.1766316918.YD.1800.0 b/src/Safe_navigation/logs/airsim_dqn_20251221_193518/events.out.tfevents.1766316918.YD.1800.0 new file mode 100644 index 0000000000000000000000000000000000000000..039f139958d42e73ad137673c1b26c7bd8a465b0 GIT binary patch literal 88 zcmeZZfPjCKJmzx#6rOYUTi`86Dc+=_#LPTB*Rs^S5-X!1JuaP+)V$*SqNM!9q7=R2 h(%js{qDsB;qRf)iBE3|Qs`#|boYZ)T$m5PPM*w1oA|n6* literal 0 HcmV?d00001 diff --git a/src/Safe_navigation/run_main.py b/src/Safe_navigation/run_main.py new file mode 100644 index 0000000000..ba4c30b1ac --- /dev/null +++ b/src/Safe_navigation/run_main.py @@ -0,0 +1,506 @@ +#!/usr/bin/env python3 +""" +AirSimNH 无人车完整仿真控制脚本 +功能：连接仿真器、手动控制车辆、采集传感器数据、监控车辆状态 +""" + +import airsim +import time +import numpy as np +import cv2 +import json +import os +from datetime import datetime +import threading +from collections import deque + + +class AirSimNHCarSimulator: + """AirSim无人车仿真主类""" + + def __init__(self, ip="127.0.0.1", port=41451, vehicle_name="PhysXCar"): + """ + 初始化仿真器连接 + + 参数: + ip: AirSim服务器IP地址 + port: AirSim服务器端口 + vehicle_name: 车辆名称，需与settings.json中一致 + """ + self.ip = ip + self.port = port + self.vehicle_name = vehicle_name + self.client = None + self.is_connected = False + self.is_api_control_enabled = False + self.running = False + self.data_log = [] + self.data_file = None + + # 传感器数据缓存 + self.sensor_data = { + "camera": deque(maxlen=100), + "imu": deque(maxlen=1000), + "gps": deque(maxlen=1000), + "lidar": deque(maxlen=100) + } + + # 创建数据保存目录 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + self.data_dir = f"simulation_data_{timestamp}" + os.makedirs(self.data_dir, exist_ok=True) + + print(f"数据保存目录: {self.data_dir}") + + def connect(self): + """连接到AirSim仿真器""" + try: + print(f"正在连接到AirSim仿真器 {self.ip}:{self.port}...") + + # 创建客户端连接 + self.client = airsim.CarClient(ip=self.ip, port=self.port) + self.client.confirmConnection() + + # 检查车辆是否存在 + vehicles = self.client.listVehicles() + if self.vehicle_name not in vehicles: + print(f"警告: 车辆 '{self.vehicle_name}' 未找到，可用车辆: {vehicles}") + # 尝试使用找到的第一个车辆 + if vehicles: + self.vehicle_name = vehicles[0] + print(f"使用车辆: {self.vehicle_name}") + + self.is_connected = True + print("✓ 成功连接到AirSim仿真器！") + return True + + except Exception as e: + print(f"✗ 连接失败: {e}") + print("请确保:") + print("1. AirSimNH环境正在运行 (在虚幻引擎中启动)") + print("2. settings.json配置正确") + print("3. 网络连接正常") + return False + + def enable_api_control(self, enable=True): + """启用/禁用API控制""" + try: + self.client.enableApiControl(enable, vehicle_name=self.vehicle_name) + self.is_api_control_enabled = enable + + if enable: + print("✓ API控制已启用") + # 重置控制到初始状态 + controls = airsim.CarControls() + controls.throttle = 0 + controls.steering = 0 + controls.brake = 0 + controls.handbrake = False + self.client.setCarControls(controls, vehicle_name=self.vehicle_name) + else: + print("✓ API控制已禁用") + + return True + + except Exception as e: + print(f"✗ API控制设置失败: {e}") + return False + + def get_vehicle_state(self): + """获取完整的车辆状态信息""" + try: + state = self.client.getCarState(vehicle_name=self.vehicle_name) + + # 获取车辆物理信息 + kinematics = self.client.simGetVehiclePose(vehicle_name=self.vehicle_name) + + state_info = { + "timestamp": time.time(), + "speed_kmh": state.speed, + "speed_ms": state.speed / 3.6, + "position": { + "x": kinematics.position.x_val, + "y": kinematics.position.y_val, + "z": kinematics.position.z_val + }, + "orientation": { + "w": kinematics.orientation.w_val, + "x": kinematics.orientation.x_val, + "y": kinematics.orientation.y_val, + "z": kinematics.orientation.z_val + }, + "gear": state.gear, + "rpm": state.rpm, + "max_rpm": state.maxrpm, + "handbrake": state.handbrake, + "collision": state.collision.has_collided, + "collision_count": state.collision.collision_count + } + + return state_info + + except Exception as e: + print(f"获取车辆状态失败: {e}") + return None + + def capture_camera_images(self, camera_names=["front", "back", "left", "right"]): + """从多个摄像头捕获图像""" + images = {} + + for cam_name in camera_names: + try: + # 请求RGB图像 + responses = self.client.simGetImages([ + airsim.ImageRequest(cam_name, airsim.ImageType.Scene, False, False) + ], vehicle_name=self.vehicle_name) + + if responses and responses[0]: + img_response = responses[0] + + # 将图像数据转换为numpy数组 + img1d = np.frombuffer(img_response.image_data_uint8, dtype=np.uint8) + img_rgb = img1d.reshape(img_response.height, img_response.width, 3) + + # 保存图像到文件 + timestamp = datetime.now().strftime("%H%M%S_%f")[:-3] + filename = f"{self.data_dir}/{cam_name}_{timestamp}.png" + cv2.imwrite(filename, cv2.cvtColor(img_rgb, cv2.COLOR_RGB2BGR)) + + images[cam_name] = { + "filename": filename, + "shape": img_rgb.shape, + "timestamp": time.time() + } + + # 缓存数据 + self.sensor_data["camera"].append({ + "camera": cam_name, + "timestamp": time.time(), + "filename": filename + }) + + except Exception as e: + print(f"摄像头 '{cam_name}' 捕获失败: {e}") + + return images + + def get_imu_data(self): + """获取IMU传感器数据""" + try: + imu_data = self.client.getImuData(imu_name="Imu", vehicle_name=self.vehicle_name) + + data = { + "timestamp": time.time(), + "linear_acceleration": { + "x": imu_data.linear_acceleration.x_val, + "y": imu_data.linear_acceleration.y_val, + "z": imu_data.linear_acceleration.z_val + }, + "angular_velocity": { + "x": imu_data.angular_velocity.x_val, + "y": imu_data.angular_velocity.y_val, + "z": imu_data.angular_velocity.z_val + }, + "orientation": { + "w": imu_data.orientation.w_val, + "x": imu_data.orientation.x_val, + "y": imu_data.orientation.y_val, + "z": imu_data.orientation.z_val + } + } + + self.sensor_data["imu"].append(data) + return data + + except Exception as e: + print(f"获取IMU数据失败: {e}") + return None + + def get_gps_data(self): + """获取GPS数据""" + try: + gps_data = self.client.getGpsData(gps_name="Gps", vehicle_name=self.vehicle_name) + + data = { + "timestamp": time.time(), + "latitude": gps_data.gnss.geopoint.latitude, + "longitude": gps_data.gnss.geopoint.longitude, + "altitude": gps_data.gnss.geopoint.altitude, + "velocity": { + "x": gps_data.gnss.velocity.x_val, + "y": gps_data.gnss.velocity.y_val, + "z": gps_data.gnss.velocity.z_val + } + } + + self.sensor_data["gps"].append(data) + return data + + except Exception as e: + print(f"获取GPS数据失败: {e}") + return None + + def manual_control_demo(self, duration=10): + """ + 手动控制演示：前进、转向、停止 + + 参数: + duration: 演示总时长（秒） + """ + if not self.is_connected or not self.is_api_control_enabled: + print("错误: 请先连接并启用API控制") + return False + + print(f"\n开始手动控制演示 ({duration}秒)...") + print("操作序列: 加速 → 左转 → 右转 → 刹车停止") + + start_time = time.time() + sequence = 0 + + try: + while time.time() - start_time < duration: + elapsed = time.time() - start_time + + # 根据时间执行不同控制序列 + if elapsed < duration * 0.25: # 第一阶段：直线加速 + controls = airsim.CarControls() + controls.throttle = 0.7 + controls.steering = 0.0 + self.client.setCarControls(controls, vehicle_name=self.vehicle_name) + if sequence < 1: + print(" 阶段1: 直线加速") + sequence = 1 + + elif elapsed < duration * 0.5: # 第二阶段：左转 + controls = airsim.CarControls() + controls.throttle = 0.5 + controls.steering = 0.3 # 左转 + self.client.setCarControls(controls, vehicle_name=self.vehicle_name) + if sequence < 2: + print(" 阶段2: 左转") + sequence = 2 + + elif elapsed < duration * 0.75: # 第三阶段：右转 + controls = airsim.CarControls() + controls.throttle = 0.5 + controls.steering = -0.3 # 右转 + self.client.setCarControls(controls, vehicle_name=self.vehicle_name) + if sequence < 3: + print(" 阶段3: 右转") + sequence = 3 + + else: # 第四阶段：减速停止 + controls = airsim.CarControls() + controls.throttle = 0.0 + controls.brake = 1.0 + controls.steering = 0.0 + self.client.setCarControls(controls, vehicle_name=self.vehicle_name) + if sequence < 4: + print(" 阶段4: 刹车停止") + sequence = 4 + + # 实时显示车辆状态 + state = self.get_vehicle_state() + if state: + print(f"\r速度: {state['speed_kmh']:.1f} km/h | " + f"位置: ({state['position']['x']:.1f}, " + f"{state['position']['y']:.1f})", end="") + + # 采集传感器数据 + self.capture_camera_images(["front"]) # 只采集前摄像头 + self.get_imu_data() + self.get_gps_data() + + time.sleep(0.1) # 控制频率 10Hz + + print("\n✓ 手动控制演示完成") + return True + + except Exception as e: + print(f"\n✗ 控制演示出错: {e}") + return False + + def data_collection_demo(self, duration=5): + """数据采集演示：采集所有传感器数据""" + print(f"\n开始数据采集演示 ({duration}秒)...") + + start_time = time.time() + frame_count = 0 + + try: + while time.time() - start_time < duration: + frame_count += 1 + + # 采集所有摄像头图像 + images = self.capture_camera_images() + + # 采集IMU数据 + imu_data = self.get_imu_data() + + # 采集GPS数据 + gps_data = self.get_gps_data() + + # 获取车辆状态 + vehicle_state = self.get_vehicle_state() + + # 记录到日志 + log_entry = { + "frame": frame_count, + "timestamp": time.time(), + "images": len(images), + "imu_data": imu_data is not None, + "gps_data": gps_data is not None, + "vehicle_state": vehicle_state is not None + } + self.data_log.append(log_entry) + + print(f"\r采集帧: {frame_count} | " + f"图像: {len(images)} | " + f"速度: {vehicle_state['speed_kmh'] if vehicle_state else 'N/A':.1f} km/h", end="") + + time.sleep(0.2) # 5Hz采集频率 + + print(f"\n✓ 数据采集完成，共采集 {frame_count} 帧") + return True + + except Exception as e: + print(f"\n✗ 数据采集出错: {e}") + return False + + def save_simulation_data(self): + """保存所有仿真数据到文件""" + try: + # 保存车辆状态日志 + log_file = f"{self.data_dir}/simulation_log.json" + with open(log_file, 'w') as f: + json.dump(self.data_log, f, indent=2) + + # 保存传感器数据统计 + stats = { + "timestamp": datetime.now().isoformat(), + "vehicle_name": self.vehicle_name, + "camera_frames": len(self.sensor_data["camera"]), + "imu_samples": len(self.sensor_data["imu"]), + "gps_samples": len(self.sensor_data["gps"]), + "total_log_entries": len(self.data_log) + } + + stats_file = f"{self.data_dir}/simulation_stats.json" + with open(stats_file, 'w') as f: + json.dump(stats, f, indent=2) + + # 生成数据报告 + report_file = f"{self.data_dir}/report.txt" + with open(report_file, 'w') as f: + f.write("=" * 50 + "\n") + f.write("AirSim无人车仿真数据报告\n") + f.write("=" * 50 + "\n\n") + f.write(f"仿真时间: {datetime.now().strftime('%Y-%m-%d %H:%M:%S')}\n") + f.write(f"车辆名称: {self.vehicle_name}\n") + f.write(f"摄像头帧数: {stats['camera_frames']}\n") + f.write(f"IMU采样数: {stats['imu_samples']}\n") + f.write(f"GPS采样数: {stats['gps_samples']}\n") + f.write(f"日志条目: {stats['total_log_entries']}\n\n") + f.write("数据文件:\n") + for file in os.listdir(self.data_dir): + f.write(f" - {file}\n") + + print(f"\n✓ 仿真数据已保存到: {self.data_dir}") + print(f" 日志文件: {log_file}") + print(f" 统计数据: {stats_file}") + print(f" 报告文件: {report_file}") + + return True + + except Exception as e: + print(f"✗ 保存数据失败: {e}") + return False + + def run_full_demo(self, control_duration=15, data_duration=8): + """运行完整演示""" + print("=" * 60) + print("AirSimNH 无人车完整仿真演示") + print("=" * 60) + + # 步骤1: 连接仿真器 + if not self.connect(): + return False + + try: + # 步骤2: 启用API控制 + if not self.enable_api_control(True): + return False + + # 步骤3: 手动控制演示 + if not self.manual_control_demo(control_duration): + print("手动控制演示失败，继续其他演示...") + + # 短暂暂停，让车辆完全停止 + time.sleep(2) + + # 步骤4: 数据采集演示 + if not self.data_collection_demo(data_duration): + print("数据采集演示失败，继续保存数据...") + + # 步骤5: 保存数据 + self.save_simulation_data() + + return True + + finally: + # 步骤6: 清理和退出 + self.cleanup() + + def cleanup(self): + """清理资源""" + print("\n正在清理资源...") + + # 停止车辆 + if self.is_api_control_enabled: + controls = airsim.CarControls() + controls.brake = 1.0 + controls.handbrake = True + try: + self.client.setCarControls(controls, vehicle_name=self.vehicle_name) + except: + pass + + # 禁用API控制 + try: + self.enable_api_control(False) + except: + pass + + print("✓ 清理完成") + + +def main(): + """主函数""" + # 创建仿真器实例 + simulator = AirSimNHCarSimulator( + ip="127.0.0.1", + port=41451, + vehicle_name="PhysXCar" + ) + + # 运行完整演示 + try: + simulator.run_full_demo( + control_duration=20, # 控制演示时长（秒） + data_duration=10 # 数据采集时长（秒） + ) + + print("\n" + "=" * 60) + print("仿真演示完成！") + print("=" * 60) + + except KeyboardInterrupt: + print("\n\n仿真被用户中断") + simulator.cleanup() + except Exception as e: + print(f"\n仿真出错: {e}") + simulator.cleanup() + + +if __name__ == "__main__": + main() \ No newline at end of file From 6e69898fc21c5077088db77ab8bc5a2b266f2429 Mon Sep 17 00:00:00 2001 From: solfdd <1006434858@qq.com> Date: Mon, 22 Dec 2025 09:46:35 +0800 Subject: [PATCH 03/16] =?UTF-8?q?=E6=8F=90=E4=BA=A4=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=B9=B6=E5=88=A0=E9=99=A4.idea=E5=92=8C=5Fpycache?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .idea/.gitignore | 5 -- .../inspectionProfiles/profiles_settings.xml | 6 -- .idea/misc.xml | 7 -- .idea/modules.xml | 8 -- .idea/nn.iml | 18 ----- .idea/vcs.xml | 6 -- .idea/workspace.xml | 75 ++++++++++++++++++ .../car.cpython-312-pytest-9.0.2.pyc | Bin 36820 -> 0 bytes ...onnect_airsim.cpython-312-pytest-9.0.2.pyc | Bin 6417 -> 0 bytes 9 files changed, 75 insertions(+), 50 deletions(-) delete mode 100644 .idea/.gitignore delete mode 100644 .idea/inspectionProfiles/profiles_settings.xml delete mode 100644 .idea/misc.xml delete mode 100644 .idea/modules.xml delete mode 100644 .idea/nn.iml delete mode 100644 .idea/vcs.xml create mode 100644 .idea/workspace.xml delete mode 100644 src/Safe_navigation/__pycache__/car.cpython-312-pytest-9.0.2.pyc delete mode 100644 src/Safe_navigation/__pycache__/connect_airsim.cpython-312-pytest-9.0.2.pyc diff --git a/.idea/.gitignore b/.idea/.gitignore deleted file mode 100644 index 10b731c518..0000000000 --- a/.idea/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -# 默认忽略的文件 -/shelf/ -/workspace.xml -# 基于编辑器的 HTTP 客户端请求 -/httpRequests/ diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml deleted file mode 100644 index 105ce2da2d..0000000000 --- a/.idea/inspectionProfiles/profiles_settings.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml deleted file mode 100644 index 77773ffb78..0000000000 --- a/.idea/misc.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml deleted file mode 100644 index 0e01bed9d6..0000000000 --- a/.idea/modules.xml +++ 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Mon, 22 Dec 2025 11:08:02 +0800 Subject: [PATCH 04/16] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=B9=B6=E8=BF=90=E8=A1=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .idea/workspace.xml | 9 +- src/Safe_navigation/car.py | 846 ------------------ src/Safe_navigation/check_version.py | 30 - .../events.out.tfevents.1766316918.YD.1800.0 | Bin 88 -> 0 bytes .../report.txt | 15 + .../simulation_log.json | 10 + .../simulation_stats.json | 8 + 7 files changed, 36 insertions(+), 882 deletions(-) delete mode 100644 src/Safe_navigation/car.py delete mode 100644 src/Safe_navigation/check_version.py delete mode 100644 src/Safe_navigation/logs/airsim_dqn_20251221_193518/events.out.tfevents.1766316918.YD.1800.0 create mode 100644 src/Safe_navigation/simulation_data_20251222_110207/report.txt create mode 100644 src/Safe_navigation/simulation_data_20251222_110207/simulation_log.json create mode 100644 src/Safe_navigation/simulation_data_20251222_110207/simulation_stats.json diff --git a/.idea/workspace.xml b/.idea/workspace.xml index ee967e3f4d..30e0b698e5 100644 --- a/.idea/workspace.xml +++ b/.idea/workspace.xml @@ -5,12 +5,9 @@ - - - - - - + + + - - - - - +